CN1175999A - Angle measuring process and device for rotary bodies - Google Patents

Angle measuring process and device for rotary bodies Download PDF

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Publication number
CN1175999A
CN1175999A CN96191978A CN96191978A CN1175999A CN 1175999 A CN1175999 A CN 1175999A CN 96191978 A CN96191978 A CN 96191978A CN 96191978 A CN96191978 A CN 96191978A CN 1175999 A CN1175999 A CN 1175999A
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Prior art keywords
corner
gear
teeth
sensor
rotary
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CN96191978A
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CN1090315C (en
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埃里希·泽布勒
克劳泽·马克思
弗兰茨·约斯特
曼弗雷德·阿本德罗特
汉斯·布劳恩
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/02—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means
    • G01D5/04—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means using levers; using cams; using gearing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K13/00—Thermometers specially adapted for specific purposes
    • G01K13/02—Thermometers specially adapted for specific purposes for measuring temperature of moving fluids or granular materials capable of flow
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0215—Determination of steering angle by measuring on the steering column
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
    • G01D2205/20—Detecting rotary movement
    • G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
    • G01D2205/20—Detecting rotary movement
    • G01D2205/28—The target being driven in rotation by additional gears

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

A process and device are disclosed for measuring the rotation angle of a rotary body, in particular a body capable of rotating over more than 360 DEG. The rotary body co-operates with at least two other rotary bodies, for example toothed wheels, whose angular position is determined by means of two sensors. The relative position of the rotary body is derived from the thus determined angular positions. For clear indications to be given, all three rotary bodies or toothed wheels must have a predetermined number of teeth. The process and device may be used for example to determine the steering angle of a motor vehicle.

Description

Detect the method and apparatus of the corner of rotary bodies
Prior art
The present invention relates to a method and a device, it is used to detect the corner of a rotary bodies, and rotatable corner more than 360 ° of objects particularly belongs to the technical field of independent claims preamble.
In different application scenarios, in the time should detecting a rotating angle position by described device, the demand of generation is to discern the exact position of axle when device is moving especially.This requirement preferably by the rotary angle transmitter of simulation for example potentiometer realize that they can be in any positions and send effective angle position value of voltage form immediately after connecting.
If the angle range when this device is used to detect corner is greater than 360 °, then the problem of Chan Shenging is, can not determine which revolution this rotating shaft is in.But in order to assess the corner area greater than 360 °, can use the increment type transmitter, wherein, angle position is detected by the number that reaches forward backward of pulse.Yet, use this increment type transmitter, can not carry out absolute outer corner measurement, because it only can calculate the increment size through a receiver.
For an outer corner measurement can be used in corner area greater than 360 °, also undocumented at this moment German patent application DE-P4409892 has done suggestion with regard to the detection of the control corner of a motor vehicle, by means of individual planetary rotary gearing will control corner determine extend to ± 720 ° zone.Wherein, this planetary rotary gearing is so definite about its number of teeth,, can accurately produce a numerical value 4 for the conversion ratio between the Control Shaft and the transmitter dish that will scan that is.That is this transmitter dish that will scan at this moment, is controlled corner and is just changed ± 720 ° as long as rotate once.By with placing on the transmitter dish once coding and scanning the position that can after connecting this device, detect this transmitter dish immediately, according to this, just can carry out determining of a control wheel corner immediately by a suitable receiver.
This is known to be used for the defective that the rotation angle detecting apparatus greater than 360 ° of angle ranges has and to be, the star line slewing gear of an essential accurate dimension also needs the absolute value transmitting system of a costliness in addition.
Advantage of the present invention
The inventive method and device are used to detect the corner of a rotary bodies, the corner of a rotatable object more than 360 ° particularly, its advantage is, even also can realize a complete common absolute corner under a plurality of winding number situations detects, simultaneously, the planetary driving device that does not need a costliness.Just can reduce measuring error by using two sensors that detect different corners.This measuring principle can be used all rotary angle transmitter types as optics, magnetic, capacitive, induction type, or impedance sensor, and any contact and non-contacting sensor.
These advantages are so to realize, promptly, the axle that detects its angle position is provided with a gear or a ring gear, itself and two other gear effects of matching, each is detected the angle position of these two other gears continuously by a sensor, wherein, the described corner that will detect also calculates by rights according to these two corners of measuring.
Particularly advantageously be, this corner area and corner accuracy by suitably selecting described single gear or ring gear the corner sign or the number of tooth just can freely proofread and correct.The configuration of gear can so be selected, and promptly should obtain desirable advantage.For this reason, gear can be arranged in the plane or in the different planes.
Additional advantages of the present invention can realize by measure given in the dependent claims.Simultaneously, particularly advantageous is that the fault of an excessive measuring error and a separated sensor all can identify.This is by with the relatively identification of last numerical value, and the sensor of these numerical value is to being defective under the stable condition, and can realize the urgent operation with a separated sensor in an advantageous manner.Just can realize that when using 8 analog-digital converters and one one is controlled corner in theory less than 0.1 ° resolution according to the control rotary angle transmitter of principle of the invention work.
Accompanying drawing
Embodiments of the invention are described in the accompanying drawings and are done in the explanation afterwards and explain in detail.
Fig. 1 shows first kind of configuration, and by it, the angle of a rotatable axle greater than 360 ° can be detected;
Fig. 2 shows the embodiment of a control rotary angle transmitter, and wherein, Fig. 2 a is that vertical view and Fig. 2 b of gear arrangement detects the control corner to comprise the affiliated sensor and the configured in one piece figure of evaluation circuits;
Fig. 3 shows a process flow diagram of the inventive method;
Explanation
Show an axle and a rotating object with 10 in Fig. 1, its corner should be measured.Settle a gear 11 on this axle 10, it has n tooth.It is that ground, location is connected with the m+1 tooth and with gear 11 that two other gears 12 and 13 have m.Their corner ψ and θ measure by two periodic rotary angle transmitters 14,15.This measurement can contact or contactless realization.The cycle of this rotary angle transmitter can be represented with Ω.In general, this Ω can count 180 ° or 360 °, but it also can be other corner numerical value.
This rotary angle transmitter is connected with an electronics evaluation circuits 16, wherein, can move in order to determine the necessary calculating of this axle one corner .
As condition precedent that is rotary angle transmitter the 14, the 15th, so-called absolute sensor, they can provide the residing corner ψ and the θ when connecting of gear 12 and 13 immediately after the device of the angle position that detects axle 10 is switched on.Just can clearly determine the corner of axle 10 immediately according to this corner.Because this moment, the corner mark of the corner mark of gear 11 or the number of tooth 17 and gear 13,12 or the number of tooth 18,19 are known.
According to should detected corner may be how greatly, with the number of teeth of the tooth 17,18,19 of selected single gear.For a corner surveyed area is that the measured zone Ω of =3600 ° and two rotary angle transmitters 14,15 is that 360 ° and necessary accuracy are 1 ° situation, and the number of teeth of gear 11 must be n=87, and number of teeth m must be 29.Just 3600 ° of corner areas can be so described with such gear, that is in this corner area, clearly corresponding configuration can be realized for rotational angle theta and ψ.After connecting apparatus of the present invention, the calculating of corner just can be carried out according to a program, and as can be from Fig. 3 is known: the next integer of this expression formula just can be calculated evaluation circuits 16 and in first step S1, k = ( m + 1 ) · θ - m · ψ Ω - - - ( 1 )
Wherein, rotational angle theta and ψ formerly measure.As step S2, this corner can be calculated, and is suitable for simultaneously:
Figure A9619197800062
Check in step S3, whether the corner that this formerly detects is what bear.If this is the case, then in step S4, the complete corner cycle is added, and it is suitable for:
Figure A9619197800071
Then, the corner ' that obtains like this adopts as actual measured value M.If be identified as opposite result in step S3, that is is not less than 0, and so, the corner that detects in step S2 just sends as the corner M that predicts.
After measured value M sends, just begin to determine next corner according to next θ that predicts and ψ in step S1.
The measuring error E of this single rotary angle transmitter 14,15, according to the error that just can convert corner with the formula (2) of ratio m/n form to, therefore, than m/n, this measuring accuracy just can be proofreaied and correct by suitable selection conversion.If the measuring error of single-sensor is even so big, promptly according to formula (1) integer the time, calculate the integer K of a mistake, so, the corner of this detection is exactly discontinuous change, but changes a quantity in the hop mode:
This point can so be controlled, that is, the variation of K numerical value is tracked according to formula (1).Otherwise from ψ and/or θ by Ω to 0 with when doing continuously excessively, this K numerical value can be set at only be integer ± m and ± (m+1) variation.If record is an other hop, then this just indicates an excessive measuring error or a defective single-sensor.In according to the program of Fig. 3 and the numerical value K that is arranged in order that in step S1, detects can compare mutually and under incredible situation of change, can identify a mistake.Then, a wrong demonstration A just can send from evaluation circuits 16.
In order to obtain correct K numerical value, the angular errors of this single-sensor 14,15 just must less than δ = ± 0,5 · Ω 2 m + 1 - - - ( 5 ) According to this, the hard-over error for corner can draw from following formula:
Figure A9619197800081
The bigger angular errors of this single-sensor can cause the kick of a , and it can change by a unallowed K is determined.
Being calculated the scheme of corner can explain as follows by two corner ψ and θ:
Based on the number of teeth, the relational expression between corner and two corner ψ and θ is suitable for: (mod is a coefficient) (7)
Figure A9619197800083
When two corners repeat according to corner Ω, just must only be applied in the remainder when making division with Ω.The running of returning by (7) and (8) is expressed as:
(9) or
Are i and j integers, and they at first are unknown numbers, because for example just do not know that ψ turns over the Ω how many times at a corner ψ under situation between 0 ° and the Ω?
But, when (9) and (10) must provide with corner ψ the time, then be suitable for (9)=(10), cause relational expression to be like this: m · i - ( m + 1 ) · j = ( m + 1 ) θ - m · ψ Ω - - - ( 11 ) The left side of (11) formula of being somebody's turn to do is an integer, and therefore, the side formula on this right also is integer certainly: k = ( m + 1 ) · θ - m · ψ Ω - - - ( 12 )
When rotational angle theta and ψ are defective value, (on the principle and the measurement defective of statistical law, digitized processing), then (12) formula is not an integer just in principle.If but people select the next integer of this expression formula, then the defective of this corner just can clearly reduce.
This formula (11) is expressed as then:
m·i-(m+1)·j＝k (13)
A Here it is formula that is suitable for two unknown number i and j, still, at this moment, i and j are integer certainly, like this, (13) formula has separate (the so-called double base problem of modelling diophantisches Problem) of dispersion.And people just can easily find in order to assess needed single separating also:
i＝j＝-k (14)
Utilize these values, just can be used as the mean value of (9) and (10) and is calculated (according to this, possible measuring error just can be reduced once more).
Figure A9619197800093
Like this of Ji Suaning both can adopt on the occasion of, also can adopt negative value.In order to obtain a continuous description, when negative value, the complete cycle of this total system just must be coupled with:
Figure A9619197800094
Device of corner that is used to measure a motor vehicle Control Shaft according to requirement of the present invention has been described in Fig. 2 a and 2b.For this purpose, essential best contactless sensor, it can maximumly detect 4 control wheels revolution of Control Shaft.
The Control Shaft h that its corner should be determined is with consistent with 10 axles of indicating in Fig. 1.Be applicable to the relational expression of Fig. 1 for gear and the rotational angle theta that is write down and .In addition, be equipped with magnet 20 and 21 on gear 18 and 19, its magnetization is arranged in the gear plane.Just can measure corner ψ and by two rotary angle transmitters 22,23, and the sensor 14,15 among sensor 22,23 and Fig. 1 is consistent as AMR (that is anisotropic reluctance type) sensor sign.The embodiment of an assembling control rotary angle transmitter can be known from Fig. 2 b.In this embodiment, three gears 11,12,13 are arranged in a plane.On gear 12 and 13, settle magnet 21 and 20, just can detect rotational angle theta and ψ absolute value by these magnets and two AMR-rotary angle transmitters 22,23.The evaluation circuits that is used to handle the output signal of this AMR-sensor is described to hybrid circuit 24.The determining of this corner ψ and is what the identification by field curve realized, and this field curve is formed by magnet 20 and 21.
If without the AMR sensor, also can use other rotary angle transmitter, for example Hall base rotary angle transmitter, optical sensor, inductance sensor, capacitive transducer or resistance sensor.According to applied sensor type, needed is to dispose gear by rights.If without gear, can also use code-wheel, suitable coded system is set on it.
Can be suitable for 4 complete revolutions for corner essential when controlling corner detects, then can select n=69 and m=23, can obtain a total cycle like this is 1440 °, that is just in time 4 revolutions.

Claims (8)

1, is used to measure a rotary bodies, method that can turn over particularly more than the corner of 360 ° of objects, this object has the corner mark or the tooth of the same form of some, and with at least two other rotating object mating reactions, and corner sign or tooth that these two objects have the same form of other quantity is characterized in that:
The rotational angle theta of these two other rotary bodies, ψ is measured; By rotational angle theta and ψ and consider that the geometric proportion that occupies obtains angle position .
2, by the described method of claim 1, it is characterized in that:
In first step, integer k is obtained; Wherein, the number of teeth of gear (12) multiply by the difference that the number of teeth of rotational angle theta and gear (13) multiply by between the corner ψ and just can produce; This difference is divided by corner Ω; In second step, just can determine the corner that will detect according to fan's K value and by the calculating of formula (2), promptly
Figure A9619197800021
Then, when a negative corner , the complete in addition corner cycle.
3, by claim 1 or 2 described methods, it is characterized in that:
K numerical value to credible variation monitors; When the K value was the variation of not believing, a defective was identified.
4, by the method for claim 1,2 or 3, detect the device of angle position, it is characterized in that:
The object of this rotation is a gear; The number of teeth of a gear is n, and the number of teeth of second gear is m; The number of teeth of the 3rd gear is m+1; Wherein, number of teeth n is different with m, detects rotational angle theta and ψ by sensor (14,15); Corner is obtained in evaluation circuits (16).
5, by the described device of claim 4, it is characterized in that:
This rotational angle theta and ψ are each by one as the sensor of absolute value transmitter work.
6, by one of aforementioned claim described device, it is characterized in that:
The corner that detects is the control corner of a motor vehicle; First gear is connected with Control Shaft and therewith rotates.
7, by the described device of claim 5, it is characterized in that:
The sensor that is used to detect the angle position of the second and the 3rd gear is the AMR-rotary angle transmitter, the magnet that its scanning is connected with gear.
8, by the described device of claim 6, it is characterized in that:
By an evaluation circuits, to determine corner , this evaluation circuits is the structure of hybrid circuit according to corner ψ and θ, wherein, and the composition member that these two AMR-rotary angle transmitters are these hybrid circuits.
CN96191978A 1995-02-28 1996-01-31 Angle measuring process and device for rotary bodies Expired - Lifetime CN1090315C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19506938.2 1995-02-28
DE19506938A DE19506938A1 (en) 1995-02-28 1995-02-28 Method and device for measuring the angle of a rotatable body

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CN1175999A true CN1175999A (en) 1998-03-11
CN1090315C CN1090315C (en) 2002-09-04

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US (1) US5930905A (en)
EP (1) EP0877916B1 (en)
JP (1) JP3792718B2 (en)
CN (1) CN1090315C (en)
DE (2) DE19506938A1 (en)
WO (1) WO1996027116A1 (en)

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